CN117709130A - Method and device for solving instantaneous motion parameters of carrier - Google Patents
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Abstract
The present disclosure relates to a method and apparatus for solving instantaneous motion parameters of a carrier. The method for solving the instantaneous motion parameters of the carrier comprises the following steps: constructing an instantaneous motion parameter solving model of the carrier, wherein the instantaneous motion parameter solving model comprises a coefficient matrix and a history displacement matrix; acquiring a plurality of sections of historical displacement of the carrier in an equal time interval at the current moment; solving an instantaneous motion parameter solving model by utilizing the equal time interval and the multi-section historical displacement to obtain instantaneous motion parameters of the carrier; the coefficient calculation result of the coefficient matrix and the displacement calculation result of the history displacement matrix are both related to the multi-section history displacement. According to the method and the device, after the multi-section historical displacement of the carrier in the equal time interval of the current moment is obtained, the instantaneous motion parameters of the carrier can be rapidly solved by utilizing the instantaneous motion parameter solving model, and the instantaneous motion parameters can accurately describe the motion state of the carrier at the current moment.
Description
Technical Field
The disclosure relates to the technical field of navigation positioning, in particular to a method and a device for solving instantaneous motion parameters of a carrier.
Background
In navigation positioning, it is often necessary to calculate the relevant motion parameters of the carrier at a certain moment through various observables.
In the related art, generally, in the case where the displacement of the carrier is known, the displacement is divided by the time interval to obtain the average speed of the carrier, and the average speed is used to replace the instantaneous speed; alternatively, the instantaneous velocity of the carrier is obtained using a Doppler velocimetry method. Both methods cannot solve other motion parameters of the carrier, and the average speed of the carrier within a period of time is not the instantaneous speed of the carrier, so that the motion state of the carrier at a certain moment cannot be accurately described.
Disclosure of Invention
In view of this, the embodiments of the present disclosure provide a method and an apparatus for solving instantaneous motion parameters of a carrier, so as to solve the problems in the related art.
In a first aspect of an embodiment of the present disclosure, a method for solving an instantaneous motion parameter of a carrier is provided, including:
constructing an instantaneous motion parameter solving model of the carrier, wherein the instantaneous motion parameter solving model comprises a coefficient matrix and a history displacement matrix;
acquiring a plurality of sections of historical displacement of the carrier in an equal time interval at the current moment;
solving the instantaneous motion parameter solving model by utilizing the equal time interval and the multi-section historical displacement to obtain the instantaneous motion parameter of the carrier; and the coefficient calculation result of the coefficient matrix and the displacement calculation result of the history displacement matrix are both related to the multi-section history displacement.
In a second aspect of the embodiments of the present disclosure, a device for solving an instantaneous motion parameter of a carrier is provided, including:
the construction module is used for constructing an instantaneous motion parameter solving model of the carrier, wherein the instantaneous motion parameter solving model comprises a coefficient matrix and a history displacement matrix;
the acquisition module is used for acquiring multiple sections of historical displacement of the carrier in the equal time interval at the current moment;
the solving module is used for solving the instantaneous motion parameter solving model by utilizing the equal time interval and the multi-section historical displacement to obtain the instantaneous motion parameter of the carrier; and the coefficient calculation result of the coefficient matrix and the displacement calculation result of the history displacement matrix are both related to the multi-section history displacement.
In a third aspect of the disclosed embodiments, there is provided an electronic device, including:
at least one processor;
a memory for storing at least one processor-executable instruction;
wherein the at least one processor is configured to execute instructions to implement the steps of the above-described method.
In a fourth aspect of the disclosed embodiments, a computer-readable storage medium is provided, which when executed by a processor of an electronic device, enables the electronic device to perform the steps of the above-described method.
The above-mentioned at least one technical scheme that the embodiment of the disclosure adopted can reach following beneficial effect: constructing an instantaneous motion parameter solving model of the carrier, wherein the instantaneous motion parameter solving model comprises a coefficient matrix and a history displacement matrix; acquiring a plurality of sections of historical displacement of the carrier in an equal time interval at the current moment; solving an instantaneous motion parameter solving model by utilizing the equal time interval and the multi-section historical displacement to obtain instantaneous motion parameters of the carrier; the coefficient calculation result of the coefficient matrix and the displacement calculation result of the history displacement matrix are related to multiple sections of history displacement, and after multiple sections of history displacement of the carrier in the same time interval at the current moment are obtained, the instantaneous motion parameters of the carrier can be rapidly solved by utilizing an instantaneous motion parameter solving model, and the instantaneous motion parameters can accurately describe the motion state of the carrier at the current moment.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings that are required for the embodiments or the description of the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and other drawings may be obtained according to these drawings without inventive effort for a person of ordinary skill in the art.
FIG. 1 shows a flow diagram of a method for solving instantaneous motion parameters of a carrier provided by an exemplary embodiment of the present disclosure;
FIG. 2 shows a schematic diagram of a solution device for instantaneous motion parameters of a carrier provided by an exemplary embodiment of the present disclosure;
fig. 3 illustrates a schematic structural diagram of an electronic device provided in an exemplary embodiment of the present disclosure;
fig. 4 shows a schematic structural diagram of a computer system provided in an exemplary embodiment of the present disclosure.
Detailed Description
Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While certain embodiments of the present disclosure have been shown in the accompanying drawings, it is to be understood that the present disclosure may be embodied in various forms and should not be construed as limited to the embodiments set forth herein, but are provided to provide a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are for illustration purposes only and are not intended to limit the scope of the present disclosure.
It should be understood that the various steps recited in the method embodiments of the present disclosure may be performed in a different order and/or performed in parallel. Furthermore, method embodiments may include additional steps and/or omit performing the illustrated steps. The scope of the present disclosure is not limited in this respect.
The term "including" and variations thereof as used herein are intended to be open-ended, i.e., including, but not limited to. The term "based on" is based at least in part on. The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments. Related definitions of other terms will be given in the description below. It should be noted that the terms "first," "second," and the like in this disclosure are merely used to distinguish between different devices, modules, or units and are not used to define an order or interdependence of functions performed by the devices, modules, or units.
It should be noted that references to "one", "a plurality" and "a plurality" in this disclosure are intended to be illustrative rather than limiting, and those of ordinary skill in the art will appreciate that "one or more" is intended to be understood as "one or more" unless the context clearly indicates otherwise.
The names of messages or information interacted between the various devices in the embodiments of the present disclosure are for illustrative purposes only and are not intended to limit the scope of such messages or information.
The method for solving the instantaneous motion parameters of the carrier provided by the embodiment of the disclosure can be executed by a terminal or a chip applied to the terminal.
By way of example, the above-described terminals may include one or more of a cell phone, tablet computer, wearable device, vehicle-mounted device, notebook computer, ultra-mobile personal computer (ultra-mobile personal computer, UMPC), netbook, palm computer (Personal Digital Assistant, PDA), and wearable device based on augmented reality (augmented reality, AR) and/or Virtual Reality (VR) technology, etc., to which the exemplary embodiments of the present disclosure are not particularly limited.
Fig. 1 shows a flow chart of a method for solving instantaneous motion parameters of a carrier according to an exemplary embodiment of the present disclosure. As shown in fig. 1, the method for solving the instantaneous motion parameters of the carrier comprises the following steps:
s101, constructing an instantaneous motion parameter solving model of a carrier, wherein the instantaneous motion parameter solving model comprises a coefficient matrix and a history displacement matrix;
s102, acquiring multiple sections of historical displacement of the carrier in an equal time interval at the current moment;
s103, solving an instantaneous motion parameter solving model by utilizing the equal time interval and the multi-section historical displacement to obtain instantaneous motion parameters of the carrier; the coefficient calculation result of the coefficient matrix and the displacement calculation result of the history displacement matrix are both related to the multi-section history displacement.
Specifically, exemplary embodiments of the present disclosure may pre-build an instantaneous motion parameter solution model of the carrier through an algorithmic design. When the instantaneous motion parameters of the carrier are solved, the unknown variables of the instantaneous motion parameter solving model are a plurality of sections of historical displacement and the equal time intervals carried by the plurality of sections of historical displacement.
The instantaneous kinetic parameter solution model may include a coefficient matrix and a historical displacement matrix. Wherein, the coefficient calculation result of the coefficient matrix and the displacement calculation result of the history displacement matrix are both related to a plurality of sections of history displacement; that is, the coefficient calculation result of the coefficient matrix is related to the number of the plurality of pieces of history displacement, and the displacement calculation result of the history displacement matrix is related to the specific value of the plurality of pieces of history displacement, so that after the plurality of pieces of history displacement are determined, the coefficient calculation result of the coefficient matrix and the displacement calculation result of the history displacement matrix can be determined respectively by using the number of pieces of history displacement and the specific value.
The instantaneous motion parameters of the carrier at the current moment are also related to the equal time intervals that the multi-segment historical displacement has, which may be carried by the multi-segment historical displacement itself.
Based on the above, according to the exemplary embodiment of the disclosure, after acquiring the multiple sections of historical displacement of the carrier in the equal time interval at the current moment, the instantaneous motion parameter solving model can be solved by utilizing the equal time interval and the multiple sections of historical displacement, so that the instantaneous motion parameters of the carrier are obtained, and the quick solving of the instantaneous motion parameters of the carrier is realized.
Here, the time intervals of the plurality of sections of the history displacement are the same, but specific values of the plurality of sections of the history displacement may be the same or different, and the exemplary embodiment of the present disclosure is not limited thereto in detail.
According to the technical scheme of the disclosed example embodiment, an instantaneous motion parameter solving model of a carrier is constructed, wherein the instantaneous motion parameter solving model comprises a coefficient matrix and a historical displacement matrix; acquiring a plurality of sections of historical displacement of the carrier in an equal time interval at the current moment; solving an instantaneous motion parameter solving model by utilizing the equal time interval and the multi-section historical displacement to obtain instantaneous motion parameters of the carrier; the coefficient calculation result of the coefficient matrix and the displacement calculation result of the history displacement matrix are related to multiple sections of history displacement, and after multiple sections of history displacement of the carrier in the same time interval at the current moment are obtained, the instantaneous motion parameters of the carrier can be rapidly solved by utilizing an instantaneous motion parameter solving model, and the instantaneous motion parameters can accurately describe the motion state of the carrier at the current moment.
In some embodiments, constructing the transient kinetic parameter solving model of the carrier may include:
acquiring a plurality of sections of sample history displacement of the carrier in an equal time interval; determining a motion matrix model of the carrier based on the time intervals and the multi-segment sample history displacement; and solving an instantaneous motion parameter solving model of the carrier by utilizing the motion matrix model.
In particular, when the transient motion parameter solving model is constructed, the multi-section sample history displacement may be the same as the multi-section history displacement in the foregoing, or may be different from the multi-section history displacement in the foregoing, and the exemplary embodiment of the present disclosure is not limited thereto in particular. In the method of the exemplary embodiments of the present disclosure, the instantaneous motion parameter solving model of the carrier may be constructed in advance using a plurality of pieces of sample history displacement different from the previous plurality of pieces of history displacement.
The exemplary embodiments of the present disclosure may obtain multiple segments of sample history displacement of the carrier, where time intervals of the multiple segments of sample history displacement are equal, but the multiple segments of sample history displacement are not necessarily equal. Then, determining a motion matrix model of the carrier based on the time intervals and the multi-section sample historical displacement; and solving an instantaneous motion parameter solving model of the carrier by utilizing the motion matrix model.
Illustratively, determining a motion matrix model of the carrier based on the equal time intervals and the plurality of segments of sample historic displacements may include:
determining a physical motion model of the carrier based on the time interval and the multi-segment sample history displacement; and performing matrix conversion on the physical motion model to obtain a motion matrix model of the carrier.
In particular, the instantaneous motion parameters of the exemplary embodiments of the present disclosure may include instantaneous velocity, instantaneous acceleration, and instantaneous jerk, at which time the physical motion model of the carrier is represented by the following formula (1):
（1）
wherein d i Representing i+1th segment of sample history displacement, i is an integer greater than or equal to 0 and less than or equal to N-1, N is the total number of sample history displacements (here, n=5), t represents equal time intervals, v represents the instantaneous velocity of the carrier, a represents the instantaneous acceleration of the carrier, and g represents the instantaneous jerk of the carrier;
converting the above formula (1) into a matrix form, then:
（2）
simplifying equation (2), then:
when the total number of the sample history displacements is 5, the physical motion model of the carrier is represented by the following formulas (3) to (7):
（3）
（4）
（5）
（6）
（7）
at this time, the instantaneous motion parameter solving model of the carrier is represented by the following formulas (8) to (9):
（8）
（9）
wherein H is 3×5 When the total number of the historical displacements of the sample is 5, the coefficient matrix of the instantaneous motion parameter solving model is represented by D 5×1 And when the total number of the historical displacements of the sample is 5, the historical displacement matrix of the instantaneous motion parameter solving model is represented.
As can be seen from equation (4) and equation (6), B 5×5 And A 5×3 Are all constant matrices and therefore pass A using equation (9) 5×3 And B 5×5 Calculate H 3×5 ，H 3×5 The coefficient calculation result of (2) is a constant matrix. Meanwhile, as can be seen from the formula (5), D after determining the values of the multi-segment sample history displacement 5×1 The displacement calculation result of (2) is also a constant matrix, and therefore, R calculated by the formula (8) 3×1 Also a constant matrix.
Based on this, the instantaneous motion parameter of the carrier is calculated by the following formula (10):
（10）
when the total number of the sample history displacements is N, the physical motion model of the carrier is represented by the following formula (11) to formula (15):
（11）
（12）
（13）
（14）
（15）
at this time, the instantaneous motion parameter solving model of the carrier is represented by the following formulas (16) to (17):
（16）
（17）
wherein H is 3×N When the total number of the historical displacements of the sample is N, the coefficient matrix of the instantaneous motion parameter solving model is D N×1 And when the total number of the historical displacements of the sample is N, the historical displacement matrix of the instantaneous motion parameter solving model is represented.
As can be seen from equation (12) and equation (14), B N×N And A N×3 Are all constant matrices and therefore pass A using equation (17) N×3 And B N×5 Calculate H 3×N ，H 3×N The coefficient calculation result of (2) is a constant matrix. Meanwhile, as can be seen from the formula (13), D after determining the values of the multi-segment sample history displacement N×1 The displacement calculation result of (2) is also a constant matrix, and therefore, R calculated by the formula (16) 3×1 Also a constant matrix.
Based on this, the instantaneous motion parameter of the carrier is calculated by the following formula (18):
（18）
in some embodiments, after obtaining a plurality of historical displacements of the carrier over an equal time interval at the current time, the method may further include:
obtaining a plurality of preset coefficient calculation results, wherein the preset numbers of the displacements corresponding to the preset coefficient calculation results are different;
if the number of the multi-section historical displacement is different from the preset number of the displacement corresponding to each of the plurality of preset coefficient calculation results, updating the multi-section historical displacement based on a preset updating rule so that the number of the updated multi-section historical displacement is the same as the preset number of the displacement corresponding to one of the plurality of preset coefficient calculation results.
Specifically, the coefficient matrix H of the instantaneous motion parameter solving model when the total number of the sample history displacements is N can be calculated by the formula (12), the formula (14) and the formula (17) 3×N The H is 3×N The coefficient calculation result of (2) is a constant matrix. Accordingly, the exemplary embodiments of the present disclosure may calculate a plurality of N-corresponding coefficient calculation results in advance, and store the coefficient calculation results as preset coefficient calculation results.
For example, the preset coefficient calculation results corresponding to n=5, n=10, and n=20, respectively, may be stored in advance.
When n=5, the preset coefficient calculation result is H5, where (H5) T The method comprises the following steps:
-1.274104683195610e+00-9.090909090909329e-01-2.892561983471171e-01
-2.207792207792129e-012.142857142857216e-011.363636363636394e-01
4.736324281779036e-018.116883116883353e-013.264462809917451e-01
3.114915387642763e-013.701298701298815e-019.504132231405371e-02
-2.902400629673461e-01-4.870129870129994e-01-2.685950413223194e-01
when n=10, the preset coefficient calculation result is H10, where (H10) T The method comprises the following steps:
-7.005899705014578e-01-2.654867256637055e-01-4.424778761061704e-02
-5.050539431070293e-01-1.553932792870769e-01-2.240237638467562e-02
-2.370333697767293e-01-1.000474451801595e-025.714049961838205e-03
1.147967077170270e-021.157352971512251e-012.880747571013030e-02
1.795525025613446e-011.867380407203378e-013.986426552798154e-02
2.373118523560924e-011.877694576809578e-013.615116446974768e-02
1.859438496606592e-011.234502960166654e-011.921529797635938e-02
5.769402672057602e-021.825608020298350e-02-5.115828124677618e-03
-8.413268147780867e-02-8.348288879261978e-02-2.673432761928270e-02
-1.451719372073281e-01-1.175815335107323e-01-3.125193390680028e-02
when n=20, the preset coefficient calculation result is H20, where (H20) T The method comprises the following steps:
-3.639797036268252e-01-7.092198581560327e-02-6.054315862307676e-03
-3.338537235222791e-01-6.217987994121230e-02-5.163432342422083e-03
-2.828400002675241e-01-4.757183514669269e-02-3.688078566448039e-03
-2.191200658827381e-01-2.962976077538578e-02-1.896823451058783e-03
-1.498187474539408e-01-1.054130855971185e-02-2.039156580366675e-05
-8.100416713299277e-027.850127378829903e-031.748336866891865e-03
-1.768774213759584e-022.404541052966128e-023.254325971726265e-03
3.617581524870693e-023.688966199312511e-024.380384220521883e-03
7.768849767653127e-024.557226048048532e-025.047164432224967e-03
1.050090027306518e-014.962684231392685e-025.213163772905663e-03
1.173527329300017e-014.893130142655561e-024.874723755758020e-03
1.149917957276734e-014.370778936239865e-024.066030241099975e-03
9.925500351091757e-023.452271527640398e-022.859113436373377e-03
7.252787360114415e-022.228674593444079e-021.363847896143962e-03
3.825262825392160e-028.254805713299083e-03-2.720474778986335e-04
9.281946589771162e-04-5.973923399309883e-03-1.863009436940872e-03
-3.388979505980306e-02-1.845600180475391e-02-3.185630385045317e-03
-5.958900384437395e-02-2.690373229347973e-02-3.978658379150634e-03
-6.850038970253181e-02-2.868516004501304e-02-3.942997129071590e-03
-5.189820570791426e-02-2.082407262795866e-02-2.741705997499053e-03
when the instantaneous motion parameter solving model is required to be solved, a plurality of preset coefficient calculating results can be obtained, and the preset numbers of the displacements corresponding to the preset coefficient calculating results are different; and then determining preset coefficient calculation results which are the same as the plurality of sections of historical displacement from the plurality of preset coefficient calculation results, and solving the instantaneous motion parameter solving model by using the preset coefficient calculation results which are the same as the plurality of sections of historical displacement.
Assuming that the number of the multi-section historical displacement is N, the calculated results of the plurality of preset coefficients are H5, H10 and H20 respectively, and the preset number of the displacement corresponding to the calculated results of the plurality of preset coefficients is N respectively 1 =5、N 2 =10 and N 3 =20。
If the number of the multi-section historical displacements is the same as the preset number of the displacements corresponding to one of the preset coefficient calculation results, determining the one of the preset coefficient calculation results as the coefficient calculation result of the coefficient matrix. For example, when the number N of multi-stage historical displacements is 5, N is a preset number N of displacements corresponding to one of the preset coefficient calculation results 1 And if the same, H5 is the coefficient calculation result of the coefficient matrix.
If the number of the multi-section historical displacement is different from the preset number of the displacement corresponding to each of the plurality of preset coefficient calculation results, updating the multi-section historical displacement based on a preset updating rule so that the number of the updated multi-section historical displacement is the same as the preset number of the displacement corresponding to one of the plurality of preset coefficient calculation results.
For example, if the number of the plurality of segments of historical displacements is smaller than the minimum value of the preset number of displacements corresponding to the calculation results of the plurality of preset coefficients, the preset updating rule is as follows: and updating the multi-section historical displacement based on a section of historical displacement closest to the current moment in the multi-section historical displacement.
For example, when the number n of the multi-stage history displacements is 4, the multi-stage history displacements are updated based on the 4 th stage history displacement 5 nearest to the current time until the number of the updated multi-stage history displacements is 5, and at this time, H5 is the coefficient calculation result of the coefficient matrix.
Here, for the updated 5 th stage of the history displacement, the 4 th stage of the history displacement is divided by the time interval t, the instantaneous velocity v is replaced by the obtained average velocity, and both the instantaneous acceleration a and the instantaneous jerk g are 0. It can thus be seen that the updated 5 th stage history shift is identical to the 4 th stage history shift.
For example, if the number of the plurality of segments of historical displacements is greater than the preset number of displacements corresponding to one preset coefficient calculation result of the plurality of preset coefficient calculation results, the preset updating rule is as follows: and updating the multi-section historical displacement into multi-section historical displacement which is closest to the current moment and has the same preset number of displacement corresponding to one preset coefficient calculation result.
For example, when the number N of multi-stage history shifts is 13, N is larger than N 2 At this time, the updated multi-segment history displacement is 10 segments of history displacement closest to the current time among 13 segments of history displacement, and H10 is the coefficient calculation result of the coefficient matrix.
According to the technical scheme of the disclosed example embodiment, after obtaining multiple sections of historical displacement of the carrier in the equal time interval of the current moment, a plurality of preset coefficient calculation results can be obtained, and the preset numbers of the displacement corresponding to the preset coefficient calculation results are different; and under the condition that the number of the multi-section historical displacement is different from the preset number of the displacement corresponding to each of the plurality of preset coefficient calculation results, updating the multi-section historical displacement based on a preset updating rule so that the number of the updated multi-section historical displacement is the same as the preset number of the displacement corresponding to one of the plurality of preset coefficient calculation results, and under the condition that the number of the plurality of preset coefficient calculation results is smaller, the instantaneous motion parameters of the carrier at the current moment can be rapidly calculated.
In some embodiments, solving the instantaneous motion parameter solving model using the equal time intervals and the multiple segments of historical displacements to obtain instantaneous motion parameters of the carrier may include:
determining a coefficient calculation result of the coefficient matrix based on the number of the multi-section historical displacements; determining a displacement calculation result of the history displacement matrix based on the multi-section history displacement; substituting the coefficient calculation result, the displacement calculation result and the equal time interval into an instantaneous motion parameter solving model to calculate the instantaneous motion parameters of the carrier.
Specifically, the coefficient calculation result of the coefficient matrix may be determined based on the number of the multi-stage history displacements using the formula (12), the formula (14), and the formula (17) in the foregoing; determining a displacement calculation result of the history displacement matrix based on the multi-section history displacement using the formula (13) in the foregoing; then, the coefficient calculation result, the displacement calculation result, and the equal time interval are substituted into the instantaneous motion parameter solving model (formula (16)), and the instantaneous motion parameters of the carrier are calculated. Wherein the instantaneous motion parameter of the carrier is calculated by formula (18).
Based on this, the exemplary embodiments of the present disclosure can quickly solve the instantaneous motion parameters of the carrier using the instantaneous motion parameter solving model after acquiring the multi-segment historical displacement of the carrier in the equal time interval of the current time.
The above-mentioned at least one technical scheme that the embodiment of the disclosure adopted can reach following beneficial effect: constructing an instantaneous motion parameter solving model of the carrier, wherein the instantaneous motion parameter solving model comprises a coefficient matrix and a history displacement matrix; acquiring a plurality of sections of historical displacement of the carrier in an equal time interval at the current moment; solving an instantaneous motion parameter solving model by utilizing the equal time interval and the multi-section historical displacement to obtain instantaneous motion parameters of the carrier; the coefficient calculation result of the coefficient matrix and the displacement calculation result of the history displacement matrix are related to multiple sections of history displacement, and after multiple sections of history displacement of the carrier in the same time interval at the current moment are obtained, the instantaneous motion parameters of the carrier can be rapidly solved by utilizing an instantaneous motion parameter solving model, and the instantaneous motion parameters can accurately describe the motion state of the carrier at the current moment.
The foregoing has been mainly presented in terms of the teachings of the presently disclosed embodiments. It will be appreciated that, in order to achieve the above-described functions, the electronic device includes corresponding hardware structures and/or software modules that perform the respective functions. Those of skill in the art will readily appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as hardware or combinations of hardware and computer software. Whether a function is implemented as hardware or computer software driven hardware depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present disclosure.
The embodiment of the disclosure may divide the functional units of the electronic device according to the above method example, for example, each functional module may be divided corresponding to each function, or two or more functions may be integrated into one processing module. The integrated modules may be implemented in hardware or in software functional modules. It should be noted that, in the embodiment of the present disclosure, the division of the modules is merely a logic function division, and other division manners may be implemented in actual practice.
In the case of dividing each functional module by corresponding each function, exemplary embodiments of the present disclosure provide a solution apparatus for an instantaneous motion parameter of a carrier, which may be an electronic device or a chip applied to the electronic device. Fig. 2 shows a schematic structural diagram of a solution device for instantaneous motion parameters of a carrier according to an exemplary embodiment of the present disclosure. As shown in fig. 2, the apparatus 200 includes:
a construction module 201, configured to construct an instantaneous motion parameter solving model of the carrier, where the instantaneous motion parameter solving model includes a coefficient matrix and a history displacement matrix;
an obtaining module 202, configured to obtain a plurality of segments of historical displacement of the carrier in an equal time interval at a current time;
a solving module 203, configured to solve the transient motion parameter solving model by using the equal time interval and the multiple sections of historical displacement, so as to obtain a transient motion parameter of the carrier; and the coefficient calculation result of the coefficient matrix and the displacement calculation result of the history displacement matrix are both related to the multi-section history displacement.
In some embodiments, the acquisition module 202 is further configured to acquire a plurality of sample history displacements of the carrier over an equal time interval;
the construction module 201 is further configured to determine a motion matrix model of the carrier based on the equal time interval and the plurality of segments of sample historic displacements; and solving an instantaneous motion parameter solving model of the carrier by using the motion matrix model.
In some embodiments, the construction module 201 is further configured to determine a physical motion model of the carrier based on the equal time interval and the multi-segment sample historical displacement; and performing matrix conversion on the physical motion model to obtain a motion matrix model of the carrier.
In some embodiments, the instantaneous motion parameters include instantaneous velocity, instantaneous acceleration, and instantaneous jerk, and the physical motion model of the carrier is expressed by the following formula:
，
wherein d i Representing i+1th segment of sample history displacement, i is an integer greater than or equal to 0 and less than or equal to N-1, N is the total number of sample history displacements (here, n=5), t represents equal time intervals, v represents the instantaneous velocity of the carrier, a represents the instantaneous acceleration of the carrier, and g represents the instantaneous jerk of the carrier;
when the total number of sample history displacements is 5, the physical motion model of the carrier is represented by the following formula:
，
，
，
，
；/>
alternatively, when the total number of sample history displacements is N, the physical motion model of the carrier is expressed by the following formula:
，
，
，
，
。
in some embodiments, when the total number of sample history displacements is 5, the instantaneous motion parameter solution model of the carrier is represented by the following formula:
，
，
wherein H is 3×5 When the total number of the historical displacements of the sample is 5, the coefficient matrix of the instantaneous motion parameter solving model is represented by D 5×1 When the total number of the historical displacements of the sample is 5, the historical displacement matrix of the model is solved by the instantaneous motion parameters;
the instantaneous motion parameters of the carrier are calculated by the following formula:
；
alternatively, when the total number of the sample history displacements is N, the instantaneous motion parameter solving model of the carrier is expressed by the following formula:
，
，
wherein H is 3×N When the total number of the historical displacements of the sample is N, the coefficient matrix of the instantaneous motion parameter solving model is D N×1 When the total number of the historical displacements of the sample is N, the historical displacement matrix of the instantaneous motion parameter solving model is represented;
the instantaneous motion parameters of the carrier are calculated by the following formula:
。
in some embodiments, the obtaining module 201 is further configured to obtain a plurality of preset coefficient calculation results, where preset numbers of displacements corresponding to the plurality of preset coefficient calculation results are different;
the apparatus 200 further comprises: and the updating module 204 is configured to update the multi-segment historical displacement based on a preset updating rule if the number of the multi-segment historical displacement is different from the preset number of the displacements corresponding to the preset coefficient calculation results, so that the number of the updated multi-segment historical displacement is the same as the preset number of the displacements corresponding to one of the preset coefficient calculation results.
In some embodiments, the solving module 203 is further configured to determine a coefficient calculation result of the coefficient matrix based on the number of the multi-segment historical displacements;
determining a displacement calculation result of the history displacement matrix based on the multi-section history displacement;
substituting the coefficient calculation result, the displacement calculation result and the equal time interval into the instantaneous motion parameter solving model to calculate the instantaneous motion parameters of the carrier.
The embodiment of the disclosure also provides an electronic device, including: at least one processor; a memory for storing at least one processor-executable instruction; wherein at least one processor is configured to execute instructions to implement the steps of the above-described methods disclosed in embodiments of the present disclosure.
Fig. 3 shows a schematic structural diagram of an electronic device provided in an exemplary embodiment of the present disclosure. As shown in fig. 3, the electronic device 300 includes at least one processor 301 and a memory 302 coupled to the processor 301, the processor 301 being capable of performing the respective steps of the above-described methods disclosed in the embodiments of the present disclosure.
The processor 301 may also be referred to as a central processing unit (Central Processing Unit, CPU), which may be an integrated circuit chip with signal processing capabilities. The steps of the above-described methods disclosed in the embodiments of the present disclosure may be accomplished by instructions in the form of integrated logic circuits or software of hardware in the processor 301. The processor 301 may be a general purpose processor, a digital signal processor (Digital Signal Processing, DSP), an ASIC, an off-the-shelf programmable gate array (Field-programmable Gate Array, FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of a method disclosed in connection with the embodiments of the present disclosure may be embodied directly in hardware, in a decoded processor, or in a combination of hardware and software modules in a decoded processor. The software modules may be located in memory 302, such as random access memory, flash memory, read only memory, programmable read only memory, or electrically erasable programmable memory, registers, and the like, as well known in the art. The processor 301 reads the information in the memory 302 and, in combination with its hardware, performs the steps of the method described above.
In addition, various operations/processes according to the present disclosure, in the case of being implemented by software and/or firmware, may be installed from a storage medium or network to a computer system having a dedicated hardware structure, for example, the computer system 400 shown in fig. 4, which is capable of performing various functions including functions such as those described above, and the like, when various programs are installed. Fig. 4 shows a schematic structural diagram of a computer system provided in an exemplary embodiment of the present disclosure.
Computer system 400 is intended to represent various forms of digital electronic computing devices, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the disclosure described and/or claimed herein.
As shown in fig. 4, the computer system 400 includes a computing unit 401, and the computing unit 401 may perform various suitable actions and processes according to a computer program stored in a Read Only Memory (ROM) 402 or a computer program loaded from a storage unit 408 into a Random Access Memory (RAM) 403. In RAM 403, various programs and data required for the operation of computer system 400 may also be stored. The computing unit 401, ROM 402, and RAM 403 are connected to each other by a bus 404. An input/output (I/O) interface 405 is also connected to bus 404.
Various components in computer system 400 are connected to I/O interface 405, including: an input unit 406, an output unit 407, a storage unit 408, and a communication unit 409. The input unit 406 may be any type of device capable of inputting information to the computer system 400, and the input unit 406 may receive input numeric or character information and generate key signal inputs related to user settings and/or function controls of the electronic device. The output unit 407 may be any type of device capable of presenting information and may include, but is not limited to, a display, speakers, video/audio output terminals, vibrators, and/or printers. Storage unit 408 may include, but is not limited to, magnetic disks, optical disks. The communication unit 409 allows the computer system 400 to exchange information/data with other devices over a network, such as the internet, and may include, but is not limited to, modems, network cards, infrared communication devices, wireless communication transceivers and/or chipsets, e.g., bluetooth (TM) devices, wiFi devices, wiMax devices, cellular communication devices, and/or the like.
The computing unit 401 may be a variety of general purpose and/or special purpose processing components having processing and computing capabilities. Some examples of computing unit 401 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 401 performs the respective methods and processes described above. For example, in some embodiments, the above-described methods disclosed by embodiments of the present disclosure may be implemented as a computer software program tangibly embodied on a machine-readable medium, e.g., the storage unit 408. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device via the ROM 402 and/or the communication unit 409. In some embodiments, the computing unit 401 may be configured to perform the above-described methods of the disclosed embodiments of the present disclosure by any other suitable means (e.g., by means of firmware).
The disclosed embodiments also provide a computer-readable storage medium, wherein instructions in the computer-readable storage medium, when executed by a processor of an electronic device, enable the electronic device to perform the above-described method disclosed by the disclosed embodiments.
A computer readable storage medium in embodiments of the present disclosure may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium described above can include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specifically, the computer-readable storage medium described above may include one or more wire-based electrical connections, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The computer readable medium may be contained in the electronic device; or may exist alone without being incorporated into the electronic device.
The disclosed embodiments also provide a computer program product comprising a computer program, wherein the computer program, when executed by a processor, implements the above-described methods of the disclosed embodiments.
In an embodiment of the present disclosure, computer program code for performing the operations of the present disclosure may be written in one or more programming languages, including but not limited to an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of remote computers, the remote computers may be connected to the user computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to external computers.
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The modules, components or units referred to in the embodiments of the present disclosure may be implemented by software or hardware. Where the name of a module, component or unit does not in some cases constitute a limitation of the module, component or unit itself.
The functions described above herein may be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary hardware logic components that may be used include: a Field Programmable Gate Array (FPGA), an Application Specific Integrated Circuit (ASIC), an Application Specific Standard Product (ASSP), a system on a chip (SOC), a Complex Programmable Logic Device (CPLD), and the like.
The above description is merely illustrative of some embodiments of the present disclosure and of the principles of the technology applied. It will be appreciated by persons skilled in the art that the scope of the disclosure referred to in this disclosure is not limited to the specific combinations of features described above, but also covers other embodiments which may be formed by any combination of features described above or equivalents thereof without departing from the spirit of the disclosure. Such as those described above, are mutually substituted with the technical features having similar functions disclosed in the present disclosure (but not limited thereto).
Although some specific embodiments of the present disclosure have been described in detail by way of example, it should be understood by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the present disclosure. It will be appreciated by those skilled in the art that modifications may be made to the above embodiments without departing from the scope and spirit of the disclosure. The scope of the present disclosure is defined by the appended claims.
Claims (10)
1. A method for solving instantaneous motion parameters of a carrier, comprising:
constructing an instantaneous motion parameter solving model of the carrier, wherein the instantaneous motion parameter solving model comprises a coefficient matrix and a history displacement matrix;
acquiring a plurality of sections of historical displacement of the carrier in an equal time interval at the current moment;
solving the instantaneous motion parameter solving model by utilizing the equal time interval and the multi-section historical displacement to obtain the instantaneous motion parameter of the carrier; and the coefficient calculation result of the coefficient matrix and the displacement calculation result of the history displacement matrix are both related to the multi-section history displacement.
2. The method of claim 1, wherein said constructing a model of the instantaneous motion parameters of the carrier comprises:
acquiring a plurality of sections of sample history displacement of the carrier in an equal time interval;
determining a motion matrix model of the carrier based on the equal time intervals and the plurality of segments of sample historic displacements;
and solving an instantaneous motion parameter solving model of the carrier by using the motion matrix model.
3. The method of claim 2, wherein the determining a motion matrix model of the carrier based on the equal time intervals and the multi-segment sample history displacement comprises:
determining a physical motion model of the carrier based on the equal time intervals and the plurality of segments of sample historic displacements;
and performing matrix conversion on the physical motion model to obtain a motion matrix model of the carrier.
4. A method according to claim 3, wherein the instantaneous motion parameters include instantaneous velocity, instantaneous acceleration and instantaneous jerk, and the physical motion model of the carrier is represented by the following formula:
，
wherein d i Representing i+1th segment of sample history displacement, i is an integer greater than or equal to 0 and less than or equal to N-1, N is the total number of sample history displacements (here, n=5), t represents equal time intervals, v represents the instantaneous velocity of the carrier, a represents the instantaneous acceleration of the carrier, and g represents the instantaneous jerk of the carrier;
when the total number of sample history displacements is 5, the physical motion model of the carrier is represented by the following formula:
，
，
，
，
；
alternatively, when the total number of sample history displacements is N, the physical motion model of the carrier is expressed by the following formula:
，
，
，
，
。
5. the method of claim 4, wherein the instantaneous motion parameter solving model of the carrier is represented by the following formula when the total number of sample historic displacements is 5:
，
，
wherein H is 3×5 When the total number of the historical displacements of the sample is 5, the coefficient matrix of the instantaneous motion parameter solving model is represented by D 5×1 When the total number of the historical displacements of the sample is 5, the historical displacement matrix of the model is solved by the instantaneous motion parameters;
the instantaneous motion parameters of the carrier are calculated by the following formula:
；
alternatively, when the total number of the sample history displacements is N, the instantaneous motion parameter solving model of the carrier is expressed by the following formula:
，
，
wherein H is 3×N When the total number of the historical displacements of the sample is N, the coefficient matrix of the instantaneous motion parameter solving model is D N×1 When the total number of the historical displacements of the sample is N, the historical displacement matrix of the instantaneous motion parameter solving model is represented;
the instantaneous motion parameters of the carrier are calculated by the following formula:
。
6. the method according to any one of claims 1 to 5, wherein after the obtaining a plurality of historical displacements of the carrier in an equal time interval at a current time, the method further comprises:
obtaining a plurality of preset coefficient calculation results, wherein the preset numbers of the displacements corresponding to the preset coefficient calculation results are different;
and if the number of the multi-section historical displacements is different from the preset number of the displacements corresponding to the preset coefficient calculation results, updating the multi-section historical displacements based on a preset updating rule so that the number of the updated multi-section historical displacements is the same as the preset number of the displacements corresponding to one of the preset coefficient calculation results.
7. The method according to any one of claims 1 to 5, wherein said solving the instantaneous motion parameter solving model using the equal time interval and the plurality of segments of historical displacement to obtain the instantaneous motion parameter of the carrier comprises:
determining a coefficient calculation result of the coefficient matrix based on the number of the multi-section historical displacements;
determining a displacement calculation result of the history displacement matrix based on the multi-section history displacement;
substituting the coefficient calculation result, the displacement calculation result and the equal time interval into the instantaneous motion parameter solving model to calculate the instantaneous motion parameters of the carrier.
8. A device for solving instantaneous motion parameters of a carrier, comprising:
the construction module is used for constructing an instantaneous motion parameter solving model of the carrier, wherein the instantaneous motion parameter solving model comprises a coefficient matrix and a history displacement matrix;
the acquisition module is used for acquiring multiple sections of historical displacement of the carrier in the equal time interval at the current moment;
the solving module is used for solving the instantaneous motion parameter solving model by utilizing the equal time interval and the multi-section historical displacement to obtain the instantaneous motion parameter of the carrier; and the coefficient calculation result of the coefficient matrix and the displacement calculation result of the history displacement matrix are both related to the multi-section history displacement.
9. An electronic device, comprising:
at least one processor;
a memory for storing the at least one processor-executable instruction;
wherein the at least one processor is configured to execute the instructions to implement the steps of the method according to any one of claims 1 to 7.
10. A computer readable storage medium, characterized in that instructions in the computer readable storage medium, when executed by a processor of an electronic device, enable the electronic device to perform the steps of the method according to any one of claims 1-7.
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